{"id":"https://openalex.org/W4392024447","doi":"https://doi.org/10.1109/access.2024.3368874","title":"An Expeditious and Expressive Vehicle Dynamics Model for Applications in Controls and Reinforcement Learning","display_name":"An Expeditious and Expressive Vehicle Dynamics Model for Applications in Controls and Reinforcement Learning","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392024447","doi":"https://doi.org/10.1109/access.2024.3368874"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3368874","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3368874","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10443432.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10443432.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074215190","display_name":"Huzaifa Mustafa Unjhawala","orcid":"https://orcid.org/0009-0004-4273-1212"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Huzaifa Unjhawala","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0009-0004-4273-1212","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007978629","display_name":"Thomas Folkmann Hansen","orcid":"https://orcid.org/0000-0001-6703-7762"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Hansen","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103226976","display_name":"Harry Zhang","orcid":"https://orcid.org/0009-0003-1903-274X"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harry Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0009-0003-1903-274X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093976542","display_name":"Stefan Caldraru","orcid":null},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Caldraru","raw_affiliation_strings":["Department of Computer Science, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085934396","display_name":"Shouvik Chatterjee","orcid":"https://orcid.org/0000-0002-8981-788X"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shouvik Chatterjee","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013130576","display_name":"Luning Bakke","orcid":"https://orcid.org/0000-0002-9650-6959"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luning Bakke","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9650-6959","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064948845","display_name":"Jinlong Wu","orcid":"https://orcid.org/0000-0001-7438-4228"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jinlong Wu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0001-7438-4228","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065615643","display_name":"Radu Serban","orcid":"https://orcid.org/0000-0002-4219-905X"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radu Serban","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4219-905X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027224030","display_name":"Dan Negru\u0163","orcid":"https://orcid.org/0000-0003-1565-2784"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dan Negrut","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0003-1565-2784","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5074215190"],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7599,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67833933,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"33000","last_page":"33015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6258550882339478},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.46924498677253723},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.43644940853118896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36713045835494995},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3366406559944153}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6258550882339478},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.46924498677253723},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.43644940853118896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36713045835494995},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3366406559944153},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3368874","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3368874","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10443432.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:554aece4d56546ef9dac008cf2e9d873","is_oa":true,"landing_page_url":"https://doaj.org/article/554aece4d56546ef9dac008cf2e9d873","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 33000-33015 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3368874","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3368874","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10443432.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7346018331","display_name":null,"funder_award_id":"FW-HTF-R2222541","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G939003905","display_name":null,"funder_award_id":"CMMI2153855","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392024447.pdf"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W95577512","https://openalex.org/W1513873506","https://openalex.org/W1544770838","https://openalex.org/W1577785134","https://openalex.org/W1592601589","https://openalex.org/W1774569085","https://openalex.org/W1973396487","https://openalex.org/W1983024074","https://openalex.org/W1984454437","https://openalex.org/W2007041264","https://openalex.org/W2025848087","https://openalex.org/W2026413336","https://openalex.org/W2028583686","https://openalex.org/W2036101221","https://openalex.org/W2050767577","https://openalex.org/W2054137973","https://openalex.org/W2063397409","https://openalex.org/W2093912160","https://openalex.org/W2113898351","https://openalex.org/W2126910505","https://openalex.org/W2131598171","https://openalex.org/W2133030896","https://openalex.org/W2135194391","https://openalex.org/W2147357149","https://openalex.org/W2166670624","https://openalex.org/W2168309003","https://openalex.org/W2212889974","https://openalex.org/W2217402295","https://openalex.org/W2410371244","https://openalex.org/W2478676557","https://openalex.org/W2508251360","https://openalex.org/W2789392979","https://openalex.org/W2903709398","https://openalex.org/W2920804790","https://openalex.org/W2954040150","https://openalex.org/W2963906246","https://openalex.org/W2968116426","https://openalex.org/W2978787066","https://openalex.org/W2997064693","https://openalex.org/W2997206660","https://openalex.org/W3005611963","https://openalex.org/W3011225612","https://openalex.org/W3088462410","https://openalex.org/W3090482648","https://openalex.org/W3102014803","https://openalex.org/W3107373466","https://openalex.org/W3112160583","https://openalex.org/W3129658336","https://openalex.org/W3175082666","https://openalex.org/W3175844275","https://openalex.org/W4206377026","https://openalex.org/W4206713226","https://openalex.org/W4210696952","https://openalex.org/W4241541814","https://openalex.org/W4244667252","https://openalex.org/W4247690662","https://openalex.org/W4282978251","https://openalex.org/W4285071846","https://openalex.org/W4298159693","https://openalex.org/W4299825255","https://openalex.org/W4361000527","https://openalex.org/W6607241724","https://openalex.org/W6633249497","https://openalex.org/W6688540088","https://openalex.org/W6773149577","https://openalex.org/W6809907836","https://openalex.org/W6839571944"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W4285042611"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,21,40,56,60,81,131,150,166,176,220],"Vehicle":[3,172],"Model":[4],"(VM)":[5],"that":[6,108],"has":[7,149,175],"17":[8],"degrees":[9],"of":[10,25,44,59,114,130,152,165,178],"freedom":[11],"and":[12,16,99,197,216],"includes":[13],"nonlinear":[14],"tire":[15],"powertrain":[17],"subsystems.":[18],"Implemented":[19],"as":[20],"relatively":[22],"small":[23],"piece":[24],"C++":[26],"code,":[27],"the":[28,66,79,112,124,128,142,157,163],"model":[29,80,87,90,104,125,158,205],"runs":[30],"vehicle":[31,72,140,210],"dynamics":[32,113,129,164],"2000":[33],"times":[34],"faster":[35],"than":[36],"real":[37],"time":[38,42],"at":[39],"simulation":[41,101],"step":[43],"<inline-formula":[45,133,187,198],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[46,134,188,199],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[47,135,189,200],"<tex-math":[48,136,190,201],"notation=\"LaTeX\">$1":[49],"\\times":[50],"10^{-3},":[51],"\\text":[52],"{s}$":[53],"</tex-math></inline-formula>":[54,138,192,203],"on":[55,65],"single":[57],"core":[58],"commodity":[61],"CPU.":[62],"When":[63],"executed":[64],"GPU,":[67],"one":[68],"can":[69,110,186,223],"perform":[70],"300000":[71],"simulations":[73],"in":[74,107,219],"real-time.":[75],"These":[76],"properties":[77],"make":[78],"good":[82],"candidate":[83],"for":[84],"reinforcement":[85],"learning,":[86],"predictive":[88,91],"control,":[89,94],"path":[92,95],"integral":[93],"planning,":[96],"state":[97],"estimation,":[98],"traffic":[100],"tasks.":[102],"The":[103,181,209],"is":[105,119,159,213],"expressive":[106],"it":[109],"capture":[111],"vastly":[115],"different":[116],"vehicles.":[117],"This":[118],"demonstrated":[120],"by":[121],"first":[122],"calibrating":[123],"to":[126,161,230],"mimic":[127,162],"1/":[132],"notation=\"LaTeX\">$6^{th}$":[137],"scale":[139],"called":[141],"Autonomy":[143],"Research":[144],"Testbed":[145],"(ART)":[146],"vehicle,":[147],"which":[148,174,212],"mass":[151,177],"approximately":[153],"5.8":[154],"kg.":[155,180],"Subsequently,":[156],"calibrated":[160],"heavy-duty":[167],"High":[168],"Mobility":[169],"Multipurpose":[170],"Wheeled":[171],"(HMMWV),":[173],"2097":[179],"Bayesian":[182],"calibration":[183],"process":[184],"discussed":[185],"notation=\"LaTeX\">$(i)$":[191],"handle":[193],"real-life":[194],"measurement":[195],"noise,":[196],"notation=\"LaTeX\">$(ii)$":[202],"provide":[204],"parameter":[206],"probability":[207],"distributions.":[208],"model,":[211],"open":[214],"source":[215],"freely":[217],"available":[218],"public":[221],"repository,":[222],"also":[224],"be":[225],"imported":[226],"into":[227],"Python":[228],"owing":[229],"SWIG":[231],"wrapping.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
